An asymmetric bag-type pneumatic artificial muscle and a method of manufacturing the same

Abstract

The application discloses an asymmetric bag type pneumatic artificial muscle and a manufacturing method thereof. The asymmetric bag type pneumatic artificial muscle comprises an upper film cloth, a lower film cloth, a plurality of air bags, a winding belt and a gas source system. The upper film cloth is overlapped with the lower film cloth. The air bags are sequentially arranged on the upper film cloth and located between the upper film cloth and the lower film cloth. The distance between the two side edges of the air bag and the lower film cloth is less than the length of the air bag along the outer surface. The winding belt sequentially passes through the upper film cloth and the lower film cloth and passes through each air bag. The two ends of the winding belt are fixed on the lower film cloth. The gas source system is communicated with the air bag. The air bag is formed by folding and heat sealing the upper film cloth and the additional film cloth on the upper film cloth. The expansion of the air bag only drives the expansion of the upper film cloth to form one-side expansion. The human body is directly contacted with the lower film cloth, so that the human body is avoided from being squeezed.

Description

Technical Field

[0001] This invention relates to the field of pneumatics technology, and more specifically to an asymmetric pneumatic artificial muscle and its manufacturing method. Background Technology

[0002] Pneumatic artificial muscles are a new type of pneumatic actuation element, primarily used in medical rehabilitation and bionic robotics. Due to the flexibility of pneumatic artificial muscles and the compressibility of air, they possess advantages unmatched by traditional actuators. In addition to the advantages of pneumatic technology such as low cost and clean energy, they also offer advantages such as simple structure, high output force / weight ratio, high adaptability, and easy installation.

[0003] Due to limitations in the structure and manufacturing methods of traditional pneumatic artificial muscles, existing positive pressure-driven artificial muscles struggle to simultaneously meet the application requirements of high contractile force and full flexibility. Improving contractile force often necessitates the addition of auxiliary rigid structures. Furthermore, the contractile rate of pneumatic artificial muscles depends to some extent on the inflation rate of the air bladder. When compressed air is injected, the air bladder expands dramatically radially. The difference in air bladder thickness before and after inflation can cause additional pressure on the wearer's skin, potentially leading to secondary injury, especially for individuals with limb disabilities or nerve damage who are less sensitive to pain. Summary of the Invention

[0004] To address the shortcomings of the aforementioned technical solutions, the present invention aims to provide an asymmetric pneumatic artificial muscle with the characteristics of large contractile force, full flexibility, and unilateral expansion, ensuring wearing comfort, solving the problem of compatibility between contractile force and flexibility in positive pressure artificial muscles, and solving the problem of additional compression on the human body caused by thickness expansion when positive pressure artificial muscles are applied to wearable assistive devices.

[0005] Another object of the present invention is to provide a method for manufacturing the above-mentioned pneumatic artificial muscle.

[0006] The objective of this invention is achieved through the following technical solution.

[0007] An asymmetric pneumatic artificial muscle in the form of a bag includes an upper membrane, a lower membrane, multiple air bladders, a wrapping tape, and an air supply system. The upper and lower membranes are stacked together. The multiple air bladders are arranged sequentially on the upper membrane and located between the upper and lower membranes. The distance between the two sides of the air bladder along the lower membrane is less than the length of the air bladder along its outer surface. The wrapping tape passes through the upper and lower membranes and wraps around each air bladder sequentially. The two ends of the wrapping tape are fixed to the lower membrane. The air supply system is connected to the air bladders.

[0008] In the above technical solution, the length of the airbag along the outer surface is 3 to 5 times the distance between the lower membrane fabric on both sides of the airbag.

[0009] In the above technical solution, the upper membrane and the lower membrane are heat-sealed along the edge lines on both sides of the airbag.

[0010] In the above technical solution, slits are made on the edge lines on both sides of the airbag, and the wrapping tape passes through multiple slits in sequence to bypass each airbag.

[0011] In the above technical solution, the airbag is made of TPU nylon composite fabric.

[0012] In the above technical solution, the winding tape is a nylon fabric tape.

[0013] In the above technical solution, there are two airbags.

[0014] In the above technical solution, there are 3 winding tapes.

[0015] A method for manufacturing the above-mentioned asymmetric pneumatic artificial muscle includes the following steps:

[0016] Step 1: Connect two additional membranes to the upper membrane. The additional membranes are folded towards the upper membrane and heat-sealed along the edge lines of the two additional membranes onto the upper membrane to form the airbag.

[0017] Step 2: A first heat-sealing line is set on the upper membrane fabric, and the first heat-sealing line is located on both sides of the airbag. A second heat-sealing line is set on the lower membrane fabric. The distance between the first heat-sealing lines on both sides of an airbag is greater than the distance between the two matching second heat-sealing lines. The upper membrane fabric is heat-sealed along the first heat-sealing line to the second heat-sealing line of the lower membrane fabric.

[0018] Step 3: Make cuts on the first heat-sealing line and the second heat-sealing line, and the wrapping tape passes through the cuts through the upper membrane and the lower membrane, and goes around each airbag.

[0019] Step 4: Sew both ends of the wrapping tape onto the lower membrane fabric, and connect the airbag to the air source system.

[0020] The advantages and beneficial effects of this invention are as follows:

[0021] 1. Since the two ends of the winding tape of the present invention are set on the lower membrane, the contraction of the airbag will drive the contraction of the upper and lower membrane through the winding tape, thereby greatly improving the contraction force of the pneumatic artificial muscle.

[0022] 2. The airbag of the present invention is formed by folding and heat-sealing an upper membrane and an additional membrane thereon. The expansion of the airbag only causes the upper membrane to expand, forming a unilateral expansion, while the human body is in direct contact with the lower membrane, thereby avoiding compression of the human body.

[0023] 3. The upper membrane fabric, lower membrane fabric and winding tape of the present invention are composed of fully flexible fabrics, without rigid parts, and have good flexibility and adaptability.

[0024] 4. The pneumatic artificial muscle of the present invention has a flat initial state and a fast response speed. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the pneumatic artificial muscle of the present invention;

[0026] Figure 2 This is a diagram illustrating the manufacturing process of the pneumatic artificial muscle of this invention.

[0027] Figure 3 This is a diagram illustrating the contraction state of the pneumatic artificial muscle of the present invention.

[0028] Figure 4 This is a diagram showing the inflation state of the pneumatic artificial muscle of the present invention.

[0029] Figure 5 This is a schematic diagram of the pneumatic artificial muscle structure of the present invention.

[0030] in,

[0031] 1: Upper membrane fabric, 2: Airbag, 3: First heat seal line, 4: Lower membrane fabric, 5: Second heat seal line, 6: Additional membrane fabric, 7: Incision, 8: Wrapping tape.

[0032] For those skilled in the art, other related figures can be obtained from the above figures without any creative effort. Detailed Implementation

[0033] The technical solution of the present invention will be further described below with reference to specific embodiments.

[0034] Example 1

[0035] like Figure 1-2 As shown, an asymmetric pneumatic artificial muscle bag includes an upper membrane 1, a lower membrane 4, two air bladders 2, a wrapping strap 8, and an air supply system. The upper membrane 1 and the lower membrane 4 are overlapped. Specifically, the upper membrane 1 and the lower membrane 4 are heat-sealed along the edge lines on both sides of the air bladders 2. The two air bladders 2 are arranged sequentially on the upper membrane 1, and the air bladders 2 are located between the upper membrane 1 and the lower membrane 4. The distance between the two edges of the air bladders 2 and the lower membrane 4 is (e.g., the distance between the two edges of the air bladders 2 and the lower membrane 4 is...) Figure 5 (as shown in L1) is smaller than the length of airbag 2 along its outer surface (e.g.) Figure 5As shown in L2), L2 is 3 to 5 times the length of L1. The wrapping tape 8 passes through the upper membrane 1 and the lower membrane 4 and wraps around each airbag 2 in sequence. The two ends of the wrapping tape 8 are fixed to the lower membrane 4. The air source system is connected to the airbag 2. Specifically, three slits 7 are opened on the edge lines on both sides of the airbag 2. The wrapping tape 8 passes through multiple slits 7 in sequence to wrap around each airbag 2. The airbag 2 is made of TPU nylon composite fabric by hot pressing or bonding. This material has certain thermoplasticity, as well as good flexibility and wear resistance. The wrapping tape 8 is a nylon tape.

[0036] A method for fabricating an asymmetric pneumatic artificial muscle, comprising the following steps:

[0037] Step 1: Connect two additional membrane sheets 6 to the upper membrane sheet 1. The additional membrane sheets 6 are folded towards the upper membrane sheet 1 and heat-sealed along the edge lines of the two additional membrane sheets 6 onto the upper membrane sheet 1 to form two airbags 2.

[0038] Step 2: A first heat-sealing line 3 is provided on the upper membrane 1, and the first heat-sealing line 3 is located on both sides of the airbag 2. A second heat-sealing line 5 is provided on the lower membrane 4. The distance between the first heat-sealing lines 3 on both sides of an airbag 2 is greater than the distance between the two matching second heat-sealing lines 5. The upper membrane 1 is heat-sealed along the first heat-sealing line 3 onto the second heat-sealing line 5 of the lower membrane 4.

[0039] Step 3: Make a cut 7 on the first heat-sealing line 3 and the second heat-sealing line 5. The wrapping tape 8 passes through the cut 7, passes through the upper membrane 1 and the lower membrane 4, and goes around each airbag 2.

[0040] Specifically, along the length of the upper membrane 1 from right to left, the winding tape 8 passes through the cut 7 from the lower membrane 4 to the upper membrane 1, goes around the nearest airbag 2, passes through the cut 7 from the upper membrane 1 to the lower membrane 4, goes through the cut 7 to the upper membrane 1, goes around the second airbag 2, and so on.

[0041] Step 4: Sew both ends of the winding tape 8 onto the lower membrane fabric 4, and connect the airbag 2 to the air source system.

[0042] Usage status description:

[0043] When the airbag 2 is not inflated, the airbag 2 is compressed between the upper membrane 1, the lower membrane 4, and the winding tape 8 (e.g., Figure 3 As shown), after the airbag 2 is inflated by the power system, the airbag 2 expands and inflates, driving the winding belt 8 to move. Finally, the winding belt 8 causes the upper membrane 1 and the lower membrane 4 to contract (as shown). Figure 4 (As shown).

[0044] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0045] Moreover, relational terms such as “first” and “second” are used merely to distinguish one component from another that has the same name, without necessarily requiring or implying any such actual relationship or order between the components.

[0046] The present invention has been described above by way of example. It should be noted that any simple modifications, alterations or other equivalent substitutions that can be made by those skilled in the art without creative effort without departing from the core of the present invention fall within the protection scope of the present invention.

Claims

1. An asymmetric pneumatic artificial muscle, characterized in that, The device includes an upper membrane layer, a lower membrane layer, multiple airbags, a winding strap, and an air supply system. The upper and lower membrane layers are stacked together. Multiple airbags are sequentially arranged on the upper membrane layer, with each airbag positioned between the upper and lower membrane layers. Additional membrane layers are connected to the upper membrane layer, each additional membrane layer being folded towards the upper membrane layer and heat-sealed along its edge to the upper membrane layer to form the airbags. A first heat-sealing line is provided on the upper membrane layer, located on both sides of the airbags. A second heat-sealing line is provided on the lower membrane. The distance between the first heat-sealing lines on both sides of an airbag is greater than the distance between the two matching second heat-sealing lines. The upper membrane is heat-sealed along the first heat-sealing line to the second heat-sealing line of the lower membrane. The distance between the two sides of the airbag along the lower membrane is less than the length of the airbag along its outer surface. The wrapping tape passes through the upper and lower membranes and wraps around each airbag in sequence. The two ends of the wrapping tape are fixed to the lower membrane. The air source system is connected to the airbag.

2. The asymmetric pneumatic artificial muscle according to claim 1, characterized in that, The length of the airbag along its outer surface is 3 to 5 times the distance between the lower membrane fabric on both sides of the airbag.

3. The asymmetric pneumatic artificial muscle according to claim 1, characterized in that, Cuts are made along the edge lines on both sides of the airbag, and the wrapping tape passes through multiple cuts in sequence to bypass each airbag.

4. The asymmetric pneumatic artificial muscle according to claim 1, characterized in that, The airbag is made of TPU nylon composite fabric.

5. The asymmetric pneumatic artificial muscle according to claim 1, characterized in that, The wrapping tape is a nylon fabric tape.

6. The asymmetric pneumatic artificial muscle according to claim 1, characterized in that, There are two airbags.

7. The asymmetric pneumatic artificial muscle according to claim 1, characterized in that, The number of wrapping tapes is 3.

8. The method for manufacturing an asymmetric pneumatic artificial muscle as described in any one of claims 1 to 7, characterized in that, Includes the following steps: Step 1: Connect two additional membranes to the upper membrane. The additional membranes are folded towards the upper membrane and heat-sealed along the edge lines of the two additional membranes onto the upper membrane to form the airbag. Step 2: A first heat-sealing line is set on the upper membrane fabric, and the first heat-sealing line is located on both sides of the airbag. A second heat-sealing line is set on the lower membrane fabric. The distance between the first heat-sealing lines on both sides of an airbag is greater than the distance between the two matching second heat-sealing lines. The upper membrane fabric is heat-sealed along the first heat-sealing line to the second heat-sealing line of the lower membrane fabric. Step 3: Make cuts on the first heat-sealing line and the second heat-sealing line, and the wrapping tape passes through the cuts through the upper membrane and the lower membrane, and goes around each airbag; Step 4: Sew both ends of the wrapping tape onto the lower membrane fabric, and connect the airbag to the air source system.

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